CN213796589U - A online calibration device of three-dimensional stereo camera position appearance for industrial robot - Google Patents
A online calibration device of three-dimensional stereo camera position appearance for industrial robot Download PDFInfo
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- CN213796589U CN213796589U CN202022675152.5U CN202022675152U CN213796589U CN 213796589 U CN213796589 U CN 213796589U CN 202022675152 U CN202022675152 U CN 202022675152U CN 213796589 U CN213796589 U CN 213796589U
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Abstract
The utility model discloses a three-dimensional camera pose online calibration device and method for an industrial robot, which comprises an industrial robot driving a three-dimensional target for calibration to move to a calibration point position in a certain posture; the three-dimensional camera can measure three-dimensional point cloud data in a space, and outputs three-dimensional target for calibration and local three-dimensional point cloud data of nearby structural members to a calibration control module of the industrial control computer, and the calibration control module processes and resolves to obtain three-dimensional coordinates of visible characteristic peaks for calibration under a three-dimensional camera coordinate system; identifying, searching and acquiring three-dimensional coordinates of visible characteristic vertexes for calibration under an industrial robot coordinate system; and resolving to obtain a coordinate transformation matrix between the three-dimensional camera and the industrial robot. The utility model discloses do not need extra calibration frock annex, have high efficiency, high accuracy, also can check up on line or mark three-dimensional camera and industrial robot's characteristics of coordinate transformation matrix in the installation manipulator back and the use.
Description
Technical Field
The utility model belongs to the technical field of intelligent industrial robot, concretely relates to a three-dimensional stereo camera position appearance online calibration device for intelligent industrial robot.
Background
The traditional industrial robot adopts a teaching programming mode aiming at a single type material or product with known specification, size and pose accurately positioned in advance, and is widely applied to production, manufacturing, palletizing, loading and unloading and other scenes in the industries of chemical industry, metal processing, food, beverage, tobacco, electronics and the like. However, it can not adapt to the flexible production of small-batch and multi-variety materials or products which can not be accurately positioned by industrial 4.0 times operation objects.
Along with the development and maturity of machine vision technique and product, industrial robot with vision perception ability has given intelligent industrial robot's solution. The scheme is based on a visual perception technology, identifies the states of the environment, the operation object and the equipment in a dynamic scene, intelligently plans the operation procedures and the process suitable for the current scene, and realizes the operations of intelligent production manufacturing, pile removing, loading and unloading, sorting and the like under variable scenes.
The vision perception sensor of the intelligent industrial robot is developed into a three-dimensional camera by adopting a 2D industrial camera at present, the three-dimensional camera can output three-dimensional point cloud data based on a three-dimensional camera coordinate system, when the industrial robot is controlled to operate, coordinates under the three-dimensional camera must be converted to be under the industrial robot coordinate system, and a rotation and translation conversion matrix of the three-dimensional camera and the industrial robot coordinates needs to be calibrated before the intelligent industrial robot is used.
For the form that the three-dimensional camera is fixedly installed on the base outside the robot, as the components of the three-dimensional camera include one or more 2D industrial cameras, the calibration method of the coordinate transformation matrix of the traditional 2D industrial camera and the industrial robot is mostly adopted in the industry at present: before the operation mechanical arm unit is installed, a planar cooperation target such as a checkerboard is installed on a robot flange, the robot drives the planar cooperation target to run a plurality of point locations, a 2D industrial camera collects and processes images of the planar cooperation target on each point location, characteristic angle points are extracted, a coordinate transformation matrix of the 2D industrial camera and the industrial robot is obtained by solving through an affine transformation principle, and the coordinate transformation matrix of the three-dimensional camera and the industrial robot is replaced by the coordinate transformation matrix. However, the two-dimensional coordinates of the pixel space of the 2D industrial camera and the three-dimensional coordinates of the object space are not in a linear relationship, and the three-dimensional stereo camera usually needs to modify the three-dimensional point cloud data obtained by the initial calculation in a non-linear manner to obtain three-dimensional point cloud data with higher precision. Therefore, when the three-dimensional camera coordinates are converted into the industrial robot coordinates, the three-dimensional camera coordinates have large deviation with the three-dimensional coordinates of the actual space and low precision. In addition, the calibration method needs additional calibration tool accessories and is long in time consumption, when an operation manipulator is installed on a robot flange, the plane cooperation target needs to be detached, the process is complicated, and the coordinate transformation matrix of the three-dimensional camera and the industrial robot cannot be calibrated or calibrated on line in the using process.
In the prior art, a three-dimensional cooperation target with obvious three-dimensional characteristics, such as a sphere, a vertex and the like, is installed on a robot flange before an operation manipulator unit is installed, the robot drives the three-dimensional cooperation target to operate a plurality of point locations, a three-dimensional stereo camera collects and processes three-dimensional point cloud data of the three-dimensional cooperation target on each point location, coordinates of a sphere center or a vertex characteristic angle point under a three-dimensional stereo camera coordinate system are extracted by using a general algorithm in a PCL point cloud library, and a coordinate conversion matrix of the three-dimensional stereo camera and the industrial robot can be obtained by combining known coordinates of the sphere center or the vertex under the industrial robot coordinate system. The calibration method adopts a general algorithm to extract the characteristics of the sphere center or the pinnacle, seriously depends on the quality of the three-dimensional point cloud of the three-dimensional cooperation target, often needs to manually remove the three-dimensional point cloud data with poor quality, and can only realize off-line calibration; meanwhile, an additional calibration tool accessory is needed, the consumed time is long, when an operation manipulator is installed on a robot flange, the three-dimensional cooperation target needs to be detached, the process is complicated, and the coordinate transformation matrix of the three-dimensional camera and the industrial robot cannot be calibrated or calibrated on line in the using process.
Therefore, the device for calibrating the pose of the three-dimensional camera for the intelligent industrial robot on line, which does not need extra calibration tool accessories, is efficient and high in precision, and can be used for calibrating or calibrating the coordinate transformation matrix of the three-dimensional camera and the industrial robot on line after the manipulator is installed and in the using process, has great significance and value.
SUMMERY OF THE UTILITY MODEL
For solving the above-mentioned defect that exists among the prior art, the utility model aims at providing a three-dimensional stereo camera position appearance online calibration device for intelligent industrial robot, when aiming at solving needs extra demarcation frock annex, precision low, long, installation operation manipulator on the robot flange among the prior art, need pull down plane cooperation target, the process is loaded down with trivial details, can't check-up or mark three-dimensional stereo camera and industrial robot's coordinate transformation matrix's problem on line in the use.
The utility model discloses a realize through following technical scheme.
The utility model provides an on-line calibration device for the pose of a three-dimensional camera of an industrial robot, which comprises the three-dimensional camera, the industrial robot, an operating manipulator, an industrial robot control cabinet and an industrial control computer;
an operation manipulator and a calibration three-dimensional target are installed on an industrial robot, and a three-dimensional camera is arranged on the calibration three-dimensional target to collect required calibration characteristic peaks; the industrial robot and the three-dimensional camera are in signal connection with the industrial control computer, the industrial control computer controls the industrial robot to move, the three-dimensional target for calibration is located in the field range of the three-dimensional camera, and the position and the posture of the three-dimensional camera are calibrated on line.
Preferably, the working space of the industrial robot is located within the field of view of the three-dimensional stereo camera.
Preferably, the three-dimensional camera is mounted on a stand.
Preferably, the three-dimensional target for calibration is mounted on an adapter flange connected between the industrial robot and the operation manipulator.
Preferably, the work robot is fastened to the industrial robot by an adapter flange.
Preferably, the calibration three-dimensional target is a polygonal frame structure, a pair of symmetrical trapezoid structures and a rectangular structure are arranged in the polygonal inner frame, and the vertexes of the pair of symmetrical trapezoid structures and the vertexes of the polygonal outer frame are characteristic vertexes for calibration required by the three-dimensional camera.
The utility model discloses owing to take above technical scheme, it has following beneficial effect:
1. the utility model adopts the three-dimensional target for calibration which is arranged on the adapter flange connected with the industrial robot and the operation manipulator, and a plurality of characteristic vertexes for calibration formed by intersecting planes are arranged on the three-dimensional target; the visible characteristic peak for calibration is extracted from the calibration point positions, so that the device for online calibration of the pose of the industrial robot and the three-dimensional stereo camera is provided, and the device has the remarkable advantages of high precision, simple calibration process and quickness.
2. The utility model discloses well mark with three-dimensional target install in the middle of industrial robot adapter flange and the operation manipulator, the installation of operation manipulator, use, dismantle can not change the position and the gesture of marking with three-dimensional target, can realize that intelligent industrial robot has installed behind the operation manipulator unit and in the use homoenergetic realize online check-up and the function of maring.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:
fig. 1 shows a schematic structural diagram of an online calibration device for a three-dimensional camera pose of an intelligent industrial robot according to an embodiment of the present invention;
fig. 2 shows a schematic view of a three-dimensional target mounting structure for calibrating a three-dimensional camera pose online calibration device for an intelligent industrial robot according to an embodiment of the present invention;
fig. 3 shows a block diagram of a three-dimensional camera pose online calibration device for an intelligent industrial robot according to an embodiment of the present invention;
fig. 4 shows the three-dimensional target structure schematic diagram for calibration provided by the embodiment of the present invention.
In the figure: 1. calibrating the three-dimensional target; 2. calibrating the characteristic peak; 3. calibrating a control module; 4. a three-dimensional point cloud data processing module; 5. calibrating a characteristic vertex database for use; 6. a three-dimensional stereo camera; 7. a support; 8. an industrial robot; 9. an operating manipulator; 10. an industrial robot control cabinet; 11. an industrial control computer; 12. local three-dimensional point cloud data; 14. a working space; 15. a transfer flange; 16. a connecting bolt; 17. and a positioning pin.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided to explain the invention, but not to limit the invention.
As shown in fig. 1 and 3, a schematic structural diagram of an online calibration device for a three-dimensional stereo camera pose of an intelligent industrial robot is shown, and the online calibration device comprises a three-dimensional stereo camera 6, a support 7, an industrial robot 8, a working manipulator 9, an industrial robot control cabinet 10 and an industrial control computer 11.
An operating manipulator 9 is installed on an industrial robot 8, an industrial control computer 11 is placed in an industrial robot control cabinet 10, a three-dimensional camera 6 is erected on a support 7, and an operating space 14 of the industrial robot 8 is located within the field of view of the three-dimensional camera 6; the industrial robot 8 and the three-dimensional stereo camera 6 are in signal connection with an industrial control computer 11. The industrial robot 8 is controlled by the industrial control computer 11 to move, the three-dimensional target 1 for calibration is positioned in the field range of the three-dimensional camera 6, and the pose of the three-dimensional camera is calibrated on line.
As shown in fig. 2, the operation manipulator 9 is fastened and connected to the industrial robot 8 through an adapter flange 15, the calibration three-dimensional target 1 is horizontally connected below the adapter flange 15 through a connecting bolt 16 and a positioning pin 17, the calibration three-dimensional target 1 is a polygonal frame structure, a pair of symmetrical trapezoidal structures and a rectangular structure are arranged in a polygonal inner frame, and the vertex of the pair of symmetrical trapezoidal structure inner frame and the vertex of the polygonal outer frame are characteristic vertices 2 for the three-dimensional camera 6 to acquire the required calibration.
The utility model discloses a following three-dimensional stereo camera position appearance that is used for intelligent industrial robot is markd on line and is provided a device.
When the device is used for online calibration, as shown in fig. 4, the three-dimensional coordinates of the calibration feature vertex 2 in the calibration three-dimensional target 1 are stored in the calibration feature vertex database 5, and the three-dimensional coordinates can be obtained according to the serial number index of the calibration feature vertex 2.
The calibration control module 3 is installed in the industrial control computer 11. The calibration control module 3 is used for controlling the motion position and the posture of the industrial robot 8; controlling industrial robot 8 to drive calibration three-dimensional target 1 to move to calibration point P1、P2、P3、P4And triggering the three-dimensional stereo camera to acquire three-dimensional point cloud data.
And the three-dimensional point cloud data processing module 4 is used for processing the local three-dimensional point cloud data 12 containing the calibration three-dimensional target 1 to obtain the three-dimensional coordinates of the visible calibration characteristic peak in the three-dimensional camera coordinate system.
The calibration control module 3 utilizes the visible calibration characteristic vertexes in one-to-one correspondence under the three-dimensional camera coordinate system and the industrial robot coordinate system to calculate and obtain a coordinate transformation matrix RT between the three-dimensional camera and the industrial robotcb。
The three-dimensional camera 6 is arranged on a bracket 7 at one side of the industrial robot 1; the bracket 7 is not limited to be formed into an integrated structural member by welding, and can also be assembled into an assembly by sectional materials; the support 7 is not limited to be installed on the ground, and can also be hoisted; the support should have mechanical stability to ensure that the coordinate system of the three-dimensional stereo camera 6 is stable over a long period of time.
The measuring range of the three-dimensional stereo camera 6 can cover the working space 14 of the industrial robot; the three-dimensional stereo camera 2 is connected to the industrial control computer 11 by installing a communication control cable.
The industrial robot 8 is a large-range motion actuator; the reach of the industrial robot 8 covers the working space 14 requirements in a specific application scenario.
The industrial robot 8 is connected to an industrial robot control cabinet 10 through a mounting communication control cable; the industrial robot control cabinet 10 is connected to an industrial control computer 11 by installing a communication control cable.
The device provided by the utility model can realize being used for intelligent industrial robot's three-dimensional stereo camera position appearance to mark on line, step as follows:
The method for determining the calibration point position and the calibration three-dimensional target posture comprises the following steps:
1a) establishing a base coordinate system for calibration: and taking the industrial robot base coordinate system as a calibration base coordinate system OXYZ. The X axis and the Y axis are approximately positioned in a horizontal plane, and the Z axis is vertical to an XY plane formed by the X axis and the Y axis.
1b) Determining the range of the calibration plane along the XY plane: the calibration plane is parallel to the XY plane of the base coordinate system for calibration. The range of the calibration plane along the XY plane covers the extreme positions of the industrial robot in the working space along the X axis and the Y axis; the shape of the nominal plane is preferably rectangular.
1b) In the step, preferably, the extreme position X is determined along the X axis and the Y axis in the working space of the industrial robotbmin、xbmax、ybmin、ybmax1.1 times and above is the range of the calibration plane along the XY plane, i.e., [ (x)bmax,ybmax)、(xbmax,ybmin)、(xbmin,ybmax)、(xbmin,ybmin)]1.1 times of the total weight of the powder.
1c) Determining the height of the calibration plane along the Z axis: selecting a certain height position in the working space of the industrial robot along the height of the calibration plane along the Z axis; the height of the calibration plane along the Z axis is preferably 1/3 times the working range from the height of the highest working space of the industrial robot, namely Zbmax-(zbmax-zbmin)×1/3。
1d) Determining a calibration point position: and selecting the top point of the calibration plane as a calibration point position.
1e) Determining the posture of the three-dimensional target for calibration: and the vertex of the characteristic point for calibration of the three-dimensional target for calibration is inclined upwards. The attitude of the calibration three-dimensional target, preferably the top surface of the calibration three-dimensional target forms an included angle of 45 degrees with the XY plane, namely the attitude component is (A)b,Bb,Cb) And an included angle of 45 degrees is formed between the top surface of the calibration three-dimensional target and an XY plane.
And 2, acquiring three-dimensional point cloud data in the measurable space by the three-dimensional camera, and outputting local three-dimensional point cloud data of the three-dimensional target for calibration and the nearby structural member to the calibration control module.
The method for acquiring and outputting the three-dimensional point cloud data of the three-dimensional target for calibration and the nearby structural member by the three-dimensional camera comprises the following steps:
2a) the calibration control module issues a three-dimensional point cloud data acquisition instruction, and the three-dimensional stereo camera acquires three-dimensional point cloud data in a measurable space.
2b) The three-dimensional camera processes the three-dimensional point cloud data acquired in the step 2a) by adopting a direct filtering method to obtain local three-dimensional point cloud data of the three-dimensional target for calibration and the nearby structural member. The filtering parameters in the straight-through filtering method are determined by the calibration point positions where the three-dimensional point cloud data are collected by the three-dimensional camera and the size of the three-dimensional target for calibration, and the three-dimensional point cloud data of the three-dimensional target for calibration need to be completely contained.
And 3, processing the local three-dimensional point cloud data by a three-dimensional point cloud data processing module in the calibration control module, and resolving to obtain the three-dimensional coordinates of the visible characteristic peak for calibration in the three-dimensional camera coordinate system.
The method for processing the local three-dimensional point cloud data by the calibration control module comprises the following steps:
3a) and (3) segmenting and extracting the three-dimensional point cloud data only containing the calibration three-dimensional target from the local three-dimensional point cloud data by adopting a direct filtering method.
3b) Carrying out plane segmentation and fitting on the three-dimensional point cloud data of the calibration three-dimensional target obtained in the step 3a) to obtain a plane area and a characteristic normal vector.
3c) Performing intersection operation on the fitting plane obtained in the step 3b) to obtain the three-dimensional coordinates of the visible characteristic vertex for calibration in the three-dimensional camera coordinate system.
And 4, identifying the visible characteristic vertexes for calibration by the calibration control module, and retrieving and acquiring three-dimensional coordinates of each visible characteristic vertex for calibration in the industrial robot coordinate system.
The method for identifying the visible characteristic vertex for calibration comprises the following steps:
4a) and calculating the distance between the visible calibration feature vertexes according to the coordinates of the visible calibration feature vertexes.
4b) And identifying the number of the characteristic vertexes for calibration by combining the distance between the visible characteristic vertexes for calibration and the topological relation between the characteristic vertexes for calibration.
4c) And searching a known database according to the number of the characteristic vertex to obtain the three-dimensional coordinates of the vertex in the calibration stereo target.
4d) And converting the coordinates in the three-dimensional target for calibration into three-dimensional coordinates in a flange coordinate system of the industrial robot.
4e) And converting the coordinates of the industrial robot in the flange coordinate system into three-dimensional coordinates of the industrial robot in the base coordinate system.
And 5, resolving to obtain a coordinate transformation matrix between the three-dimensional camera and the industrial robot by utilizing the visible calibration characteristic vertexes in one-to-one correspondence under the three-dimensional camera coordinate system and the industrial robot coordinate system.
The method for calculating the coordinate transformation matrix between the three-dimensional stereo camera and the industrial robot comprises the following specific steps:
5a) the same-name points in the space meet the following requirements under a three-dimensional camera coordinate system and an industrial robot coordinate system:
wherein, Pb1,Pb2,PbiAnd (4) visible three-dimensional coordinates of the characteristic vertex for calibration in the coordinate system of the industrial robot. RT (reverse transcription)cbIs a coordinate transformation matrix between the three-dimensional stereo camera and the industrial robot. Pc1, Pc2, Pci are the three-dimensional coordinates of the visible feature vertex for calibration in the three-dimensional stereo camera coordinate system. The index i represents the sum of the number of visible calibration feature vertices extracted from each calibration point location.
5b) And 3) respectively obtaining three-dimensional coordinates of a plurality of visible characteristic vertexes for calibration under a three-dimensional camera coordinate system and an industrial robot coordinate system, and resolving by using a least square method to obtain a coordinate transformation matrix between the three-dimensional camera and the industrial robot.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.
Claims (6)
1. A three-dimensional camera pose online calibration device for an industrial robot is characterized by comprising a three-dimensional camera, an industrial robot, an operation manipulator, an industrial robot control cabinet and an industrial control computer; an operation manipulator and a calibration three-dimensional target are installed on an industrial robot, and a three-dimensional camera is arranged on the calibration three-dimensional target to collect required calibration characteristic peaks; the industrial robot and the three-dimensional camera are in signal connection with the industrial control computer, the industrial control computer controls the industrial robot to move, the three-dimensional target for calibration is located in the field range of the three-dimensional camera, and the position and the posture of the three-dimensional camera are calibrated on line.
2. The on-line calibration device for the pose of the three-dimensional stereo camera of the industrial robot is characterized in that the working space of the industrial robot is located in the field of view of the three-dimensional stereo camera.
3. The on-line calibration device for the pose of the three-dimensional stereo camera of the industrial robot according to claim 1, wherein the three-dimensional stereo camera is mounted on a support.
4. The on-line calibration device for the pose of the three-dimensional stereo camera of the industrial robot is characterized in that the stereo target for calibration is installed on an adapter flange of the industrial robot connected with a working manipulator according to claim 1.
5. The on-line calibration device for the pose of the three-dimensional stereo camera of the industrial robot is characterized in that the operation manipulator is tightly connected to the industrial robot through an adapter flange.
6. The on-line calibration device for the pose of the three-dimensional stereo camera of the industrial robot according to claim 1, wherein the calibration stereo target is a polygonal frame structure, a pair of symmetrical trapezoid structures and a rectangular structure are arranged in a polygonal inner frame, and the vertex of the symmetrical trapezoid structures and the vertex of the polygonal outer frame are characteristic vertices for the three-dimensional stereo camera to collect the required calibration.
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